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Hyundai CAN FD: merge Sportage platforms (#31235)

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* merge Tucson 4th gen!

* format fingerprints

* fix torque params

* fix

* detect CANFD hybrid with ACCELERATOR_ALT

* passes

* add test

* pass test

* cmt

* Revert "pass test"

This reverts commit 5f48ab1f6e6569def1cbbc92c9c0dd4ea5eebbe2.

* combine sportage hybrid

* merge sportage

* format
old-commit-hash: 2f4cadc6bf
vw-mqb-aeb
Shane Smiskol 2 years ago committed by GitHub
parent 550fc4a726
commit db086e9cc7
7 changed files with 13 additions and 25 deletions
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  1. 12
      selfdrive/car/hyundai/fingerprints.py
  2. 6
      selfdrive/car/hyundai/interface.py
  3. 1
      selfdrive/car/hyundai/tests/test_hyundai.py
  4. 10
      selfdrive/car/hyundai/values.py
  5. 2
      selfdrive/car/tests/routes.py
  6. 4
      selfdrive/car/tests/test_models_segs.txt
  7. 3
      selfdrive/car/torque_data/override.toml

12
selfdrive/car/hyundai/fingerprints.py
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@ -1579,15 +1579,6 @@ FW_VERSIONS = {
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
],
},
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ',
],
},
CAR.SANTA_CRUZ_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
@ -1601,12 +1592,15 @@ FW_VERSIONS = {
CAR.KIA_SPORTAGE_5TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ',
b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ',
b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ',
b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ',
],
},

6
selfdrive/car/hyundai/interface.py
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@ -195,7 +195,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.63
ret.steerRatio = 14.56
elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions
ret.mass = 1725. # weight from SX and above trims, average of FWD and AWD versions
ret.wheelbase = 2.756
ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL):
@ -229,10 +229,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.9
ret.steerRatio = 16.
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
ret.mass = 1767. # SX Prestige trim support only
ret.wheelbase = 2.756
ret.steerRatio = 13.6
elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
ret.wheelbase = 2.81
ret.steerRatio = 13.5 # average of the platforms

1
selfdrive/car/hyundai/tests/test_hyundai.py
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@ -18,7 +18,6 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
NO_DATES_PLATFORMS = {
# CAN FD
CAR.KIA_SPORTAGE_5TH_GEN,
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN,
CAR.TUCSON_4TH_GEN,
# CAN

10
selfdrive/car/hyundai/values.py
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@ -126,7 +126,6 @@ class CAR(StrEnum):
KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
KIA_STINGER = "KIA STINGER GT2 2018"
KIA_STINGER_2022 = "KIA STINGER 2022"
KIA_CEED = "KIA CEED INTRO ED 2019"
@ -263,7 +262,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.KIA_SPORTAGE_5TH_GEN: [
HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
CAR.KIA_SORENTO: [
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
car_parts=CarParts.common([CarHarness.hyundai_e])),
@ -272,7 +274,6 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
@ -481,7 +482,7 @@ CAN_GEARS = {
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
@ -570,7 +571,6 @@ DBC = {
CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),

2
selfdrive/car/tests/routes.py
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@ -116,7 +116,6 @@ routes = [
CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN),
CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.STARIA_4TH_GEN),
@ -162,6 +161,7 @@ routes = [
CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # openpilot longitudinal
CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # hybrid
CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30),
CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),

4
selfdrive/car/tests/test_models_segs.txt
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:2274c383d822cf655f45f00111374420f88f4058ad12766d72e0580e6a1e4e0f
size 125126
oid sha256:19032387eb89f831be2c05a85faa1a9a0eb76ee9f67c8916128ade4108ce3b12
size 125112

3
selfdrive/car/torque_data/override.toml
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@ -46,8 +46,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]
"KIA SPORTAGE 5TH GEN" = [2.7, 2.7, 0.1]
"KIA SPORTAGE HYBRID 5TH GEN" = [2.5, 2.5, 0.1]
"KIA SPORTAGE 5TH GEN" = [2.6, 2.6, 0.1]
"GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1]
"KIA SORENTO PLUG-IN HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
"GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1]

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